| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 695725 | Automatica | 2014 | 8 Pages |
Abstract
Homogeneous sliding-mode-based differentiators (HD) are known to provide for the high-accuracy robust estimation of derivatives in the presence of sampling noises and discrete measurements, provided that the differentiator dynamics evolve in continuous time. The popular one-step Euler discrete-time implementation is proved to cause differentiation accuracy deterioration, if the differentiation order exceeds 1. A novel discrete-time realization of the HD is proposed, which preserves the ultimate accuracy of the continuous-time HD also with discrete measurements.
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Authors
Miki Livne, Arie Levant,